JP2022511853A - A device and method for automatically removing an elongated piece of lean meat, the so-called bloody meat, from fish fillets. - Google Patents

Abstract

The present invention is an apparatus (18) designed and configured to automatically remove an elongated piece (17) composed of lean meat, so-called bloody meat, from a fish fillet (10), and is processed. Along the transfer route from the entrance area (E) where the fish fillet (10) enters the device (18) to the exit area (A) where the fish fillet (10) exits the device (18). The transport unit (19) for transferring in the transfer direction T and continuously departing from the inlet area (E) in the direction of the exit area (A) along the transfer path, and the fish fillet (10) to be processed. A first means (20) for detecting the lean meat inside and a first cutting tool (21) for removing an elongated piece of the central central part of the lean meat from the fish fillet (10). An elongated piece of the ventral portion of the lean meat still attached to the fish fillet (10) and the spine of the lean meat still attached to the fish fillet (10) produced by the first cutting tool (21). To open the fish fillet (10) released from the elongated piece of the central part in such a way that the cut surface (F1, F2) of the elongated piece of the side part faces upward away from the transport unit (19). Means (22) and a cutting unit (23) for removing the elongated pieces of the ventral and dorsal parts of the lean meat from the fish fillet (10), and remove the elongated pieces of the ventral portion. It comprises a cutting unit (23) and a control device (26), including a second cutting tool (24) for the purpose and a third cutting tool (25) for removing an elongated piece of the dorsal portion. , At least the means for detecting lean meat (20) and the three cutting tools (21, 24, 25) are based on the data and / or information determined by the means for identifying lean meat (20). With respect to the apparatus, characterized in that it is connected to a control device (26) in such a manner that all cuts can be made. The present invention further relates to the corresponding method. [Selection diagram] Fig. 3

Description

The present invention relates to an apparatus designed and configured to automatically remove an elongated piece of lean meat, the so-called bloody meat, from a fish fillet.

The present invention also relates to a method for automatically removing an elongated piece of lean meat, the so-called bloody meat, from a fish fillet.

When making long-distance trips and processing tuna and similar species with a unique muscular structure as a result, the peculiarities of the muscular structure must be fully considered. Taking tuna as an example, fish fillets separated from the skeleton, especially the spine / central bone, have an inhomogeneous muscular structure. This means that the proportions of meat and muscle are different. In addition to the normally brightly colored "normal" muscles, fish fillets also have an area of bloody flesh from the area of the (removed) central bone to the lenticel. Bloody meat, called lean meat, is of poor quality in terms of taste and should be removed as completely as possible.

The area of the central bone divides the fish fillet into the supposed dorsal and ventral fillets. In other words, the area of the fish fillet that starts from the central bone and extends upward toward the dorsal fin is called the dorsal partial fillet, and is the area of the fish fillet that starts from the central bone and extends downward toward the abdominal cavity. The area is called the ventral partial fillet. The term "fish fillet" is used not only for such products, which are no longer bone-free, but specifically, at least the central bone has been removed, resulting in a strip of lean meat on the side away from the lenticel. It also refers to such products with one exposed part. Therefore, the fish fillet is processed with the lenticel down.

However, since red meat, which is also called bloody meat, spreads throughout the fish fillet, for example, it is common to cut a V-shaped elongated piece from the fish fillet with two round blades installed in a V-shape with each other. It is not possible to remove lean meat with a conventional cutting tool. The spread of red meat is not really a standard V-shape, but depends on the fish fillet. Therefore, a simple V-shaped cutting results in either the lean meat remaining in the fish fillet or the white meat being removed in addition to the lean meat. In other words, the processing results of removing lean meat with a common cutting tool are unacceptable on the one hand due to poor yields and high error rates on the other, resulting in lean meat in tuna or similar processing. So far it has been done manually when removing the tuna.

The products that are processed are cooked before processing to make it easier for people to remove lean meat. Cooking causes a color change in which the "normal" meat becomes (more) white and the bloody meat becomes darker (almost black). This change in color allows one to better distinguish between the structure and the contents of the meat, especially the spread of lean meat in the product. However, manual removal of lean meat from fish fillets has various drawbacks. On the one hand, manual removal is very time consuming and therefore costly, especially because cooking requires additional time-consuming work steps. On the other hand, manual removal results in reduced yields. In addition, the cutting results are substantially dependent on the experience and skill of the person processing the product.

Therefore, it is an object of the present invention to make sure that an elongated piece of lean meat is automatically removed from a fish fillet and that the yield is optimized. Further, an object of the present invention is to create a corresponding method.

The purpose of this is to transfer the processed fish fillet from the entrance area where the fish fillet enters the device to the exit area where the fish fillet exits the device in the transfer direction T along the transfer path and continuously along the transfer path. In the direction of the exit area, a transport unit for departing from the entrance area, a first means for detecting lean meat in the processed fish fillet, and an elongated central portion of the lean meat from the fish fillet. A first cutting tool for removing one piece and an elongated piece of lean meat that is still attached to the fish fillet and still attached to the fish fillet produced by the first cutting tool. A means to open the fish fillet released from the elongated piece of the central part and the fish fillet in such a way that the cut surface of the elongated piece of the dorsal part of the red meat faces upward away from the transport unit. A cutting unit for removing the elongated pieces of the ventral and dorsal parts of lean meat from the second cutting tool for removing the elongated pieces of the ventral part and the elongated pieces of the dorsal part. A cutting unit, a control device, and at least such means for detecting lean meat and three cutting tools by means for detecting lean meat, including a third cutting tool for removing the meat. Achieved by the above-mentioned type of equipment in that it is characterized by being connected to a control device in such a way that all cuts can be made based on the determined data and / or information. .. According to the apparatus according to the present invention, fish fillets including lean meat, specifically tuna fillets, can be efficiently and accurately released from lean meat by a machine. Three cutting tools arranged side by side in the transfer direction T allow the strip of lean meat to be removed to be cut stepwise from the fish fillet, with the first notch on the transfer unit. The second and third cuts move the partial fillet by means for opening or deploying the fish fillet, entering deeper towards the skin of the lying fish fillet with the skin flattened. That is, to move the ventral and dorsal parts of the fish fillet to a position where the second and third cutting tools can penetrate the fish fillet substantially parallel to the skin, mainly in the ventral region or Enter each dorsal area. This allows individual strips of lean meat to be removed for each fish fillet, regardless of the particular spread of the lean meat in the fish fillet. In addition, it can also be used specifically to process raw, i.e., uncooked fish.

In a preferred development of the present invention, in the transfer direction T, a second means for detecting the red meat remaining in the processed fish fillet is arranged between the means for opening the fish fillet and the cutting unit. A second means for detecting lean meat is also connected to a control device. This allows the second and third cutting tools to be more accurately controlled with respect to their incisions. After the first cutting of the lean meat and the removal of the first partial elongated piece, the second means for detecting the remaining lean meat is the accuracy of the remaining lean meat in the ventral and dorsal regions. Spread is detected, resulting in improved complete and yield-optimal removal of lean meat.

Advantageously, in the transfer direction T, the handling device for automatically aligning the fish fillets processed on the transfer unit is central with the first means for detecting the lean meat placed in the inlet area. It is located between a second cutting tool for removing the elongated piece of the central portion of the, and this handling device is also connected to the control device. Depending on the handling device, each fish fillet processed should be optimally oriented with respect to the first cutting tool with respect to the alignment of the elongated pieces of lean meat in order to optimize the cutting result of the first cutting tool. Can be done.

In a preferred embodiment, the handling device is characterized by comprising a robotic mechanism with an alignment tool, eg, a delta kinematics mechanism. In this embodiment, the fish fillet can be moved freely in substantially all directions, specifically, it can also be rotated, thereby at the starting location / starting position of a particular fish fillet on the transport unit. Regardless, prior to the first cut, the fish fillets lying in the center on the transport unit and having elongated pieces of lean meat that are aligned substantially parallel to the transport direction T should be individually and accurately positioned. Guarantee.

The first cutting tool preferably comprises two round blades mounted in a V-shape with fixed angles to each other, and a driving means for the round blades, the two round blades being adjustable vertically and horizontally. It is designed. This ensures a simple yet accurate and efficient removal of the elongated piece of central central part of the lean meat.

Particularly preferably, the first cutting tool is located on a robotic mechanism, eg, a delta kinematics mechanism, which adjusts the position of the first cutting tool with respect to the transfer unit at least vertically and horizontally. It is possible and this robotic mechanism is also connected to the control device. Specifically, the combination with the handling device guarantees the optimum alignment of the fish fillet and the round blade, and the round blade and the fish fillet for the purpose of accurate cutting.

For convenience, the second and third cutting tools each include two round blades installed in a V-shape with each other and a driving means for the round blades. In this embodiment, the elongated pieces of the ventral and dorsal parts of the lean meat can be removed particularly efficiently and accurately.

In a particularly advantageous embodiment, the second and third cutting tools each have a blade carrier to which two blade units are assigned, where each blade unit has a round blade and a round blade with a central axis of rotation M ₁ . Equipped with a driving means for rotationally driving around M ₂ , the two round blades are substantially V-shaped with each other at positions surrounding the angle α, and the blade unit on the blade carrier can be adjusted. The arrangement allows the magnitude of the angle α to be set, the offsets of the two center axes M ₁ and M ₂ from each other are equal to zero in the transfer direction T, and the two blade units are exclusively synchronized with each other. It is characterized by being designed and configured to be adjustable. This allows each cutting tool to be adjusted and adapted to the individual spread of lean meat on the ventral and dorsal sides to ensure a yield-efficient removal of the partially elongated piece. It means to prevent erroneous cuts.

The second and third cutting tools are preferably arranged side by side in the transfer direction T, each on a robotic mechanism, eg, a delta kinematics mechanism, which is also a control device. It is connected. The robotic mechanism allows the cutting tool to be optimally positioned with respect to the fish fillet being machined before and during cutting to improve the cut.

In a particularly preferred deployment, the transfer unit comprises a plurality of transfer elements, the first transfer element in the region of the first cutting tool being a rotary driven double with a clearance running centrally parallel to the transfer direction T. A second transport element in the area of the cutting unit, which is a belt, is characterized by a rotary drive segment chain having a triangular cross section. In this embodiment of the transfer unit, the transfer unit is adapted to the relevant cutting tool in such a manner that the fish fillets are each placed in the optimum location / position with respect to the cutting tool.

Advantageously, the double belt and the segment chain form a continuous transfer unit along the transfer path in the transfer direction T, and the segment chain is at least a double belt for moving the fish fillet from the double belt. In the transition area from to the segment chain, engage the double belt from below through the gap. Therefore, in the transition area, the fish fillet is in contact with the double belt on the one hand and the segment chain on the other. This causes the fish fillets to be continuously transported throughout the device.

Particularly preferably, the segment chain forms a means for opening the fish fillet. This eliminates the need for additional means to open or deploy. The dual function of transporting and opening the segment chain ensures a simple yet reliable positioning of the fish fillet under the second and third cutting tools. The segment chain has at least a partially triangular cross section, and when away from the double belt, the partial fillet is largely folded laterally and downward by gravity alone, and the cutting surface formed by the first cutting. Is still pointing upwards or at least diagonally upwards, so that the second and third cutting tools are in the ventral or dorsal region, i.e., the region substantially parallel to the skin, i.e. the first. It can penetrate into areas that cannot be penetrated by cutting tools or can not be penetrated without loss of yield.

Advantageously, the segment chain has a spike-like protrusion on its upper side pointing towards the cutting unit to secure the fish fillet onto the segment chain. This allows the fish fillets on the segment chain to be more securely secured, so that the fish fillets can be fixed, transferred and accurately positioned on the segment chain without slipping. Another effect of the spiked protrusions is to help the partial fillet bend on either side of a segment chain whose cross section is triangular or more precisely roof-shaped, ie help open the fish fillet. Is to be.

In a preferred deployment, the device for holding the fish segments the open fish fillet between the device for holding the fish and the segment chain, at least when removing the elongated pieces of the ventral and dorsal parts. It is assigned to the segment chain at least in the area of the cutting unit in such a way that it can be fixed on both sides of the chain. To transport the fish fillet in the transport direction T, the fish fillet or partial fillet hanging on either side of the segment chain passes between the segment chain supporting from below and the device for holding the fish held from above. As a result, the partial fillet will be reliably and accurately held during cutting. Therefore, the device for holding the fish, along with the segment chain, will eventually form a means to open, or at least during the opening process, to ensure that the partial fillet is held in the unfolded position. Will support.

Preferably, the fixing means is provided in the area of the double belt in such a manner that the fish fillet can be fixed on the double belt when removing at least the elongated piece of the central portion. In other words, the fish fillet lying flat on the double belt is optionally pressed onto the double belt from above and / or adsorbed on the double belt from below.

In a particularly preferred deployment, the second cutting unit corresponding to the first cutting unit is located downstream of the first cutting unit with the second and third cutting tools in the transfer direction T. The second cutting unit is also connected to a control device. In other words, the cutting unit is capable of making two incisions in succession in each case to remove the elongated piece of the ventral portion, and also to remove the elongated piece of the dorsal portion. It is doubled so that the two cuts in can be made in each case. This, on the other hand, can improve the processing speed. On the other hand, the accuracy of removing elongated pieces of lean meat from fish fillets is improved.

For convenience, the third means for detecting the lean meat is arranged on the downstream side of the first cutting unit and the upstream side of the second cutting unit in the transfer direction T, and is for detecting the lean meat. The third means is also connected to the control device. Further, in this embodiment, the cutting accuracy is improved, and therefore the machining result is improved.

In a preferred embodiment, the suction means for extracting the removed partially elongated piece is characterized in that it is located in the area of each cutting tool. As a result of this development, the cutting area is always freed from the partially elongated pieces or parts that have already been removed, which allows the detection of (residual) lean meat by downstream means for detecting lean meat. Especially improved.

This purpose uses a step of automatically transferring the processed fish fillet by the transfer unit from the inlet area to the exit area in the transfer direction T along the transfer path, and a means for detecting lean meat. And, using the step of automatically detecting the red meat in the processed fish fillet and the first cutting tool, the elongated piece of the central part of the red meat is automatically cut from the fish fillet. Of the red meat that is still attached to the fish fillet and the elongated piece of the ventral portion of the lean meat that was formed when the step and the elongated piece of the central central part were removed. The cut surface of the elongated piece of the dorsal part faces upward away from the transport unit, and automatically uses the means to open the fish fillet released from the elongated piece of the central central part. The cutting tool includes a step that opens to and automatically cuts an elongated piece of the ventral and dorsal pieces from the fish fillet using the second and third cutting tools. It is achieved by a method characterized by being controlled using a control device based on the data and / or information determined by the means for detection.

Preferably, an elongated piece of lean meat is automatically cut from the fish fillet in at least three steps, first the elongated piece of central center is cut from the fish fillet, and then first, the ventral side. An elongated piece of the portion, then an elongated piece of the dorsal portion, or first an elongated piece of the dorsal portion of the lean meat, then an elongated piece of the ventral portion is cut from the fish fillet. The order of removal of the elongated piece of the ventral portion and the removal of the elongated piece of the dorsal portion is arbitrary.

Advantageously, the cutting of the elongated piece of the ventral part first, then the cutting of the elongated piece of the dorsal part, and vice versa, the fourth and fifth steps by additional cutting tools along the transfer path. The lean meat in the fish fillet that is repeated and processed in is automatically detected again using the means for detecting the lean meat before the fourth and fifth steps. In other words, in order to improve accuracy by repeating this process, the second and third cuts are repeated at least once, and optionally twice or several times, respectively, so that the cuts are updated each time. More accurately detect lean meat that is still located in the fish fillet.

Preferably, each fish fillet is secured onto the transport unit during the cutting of a partially elongated piece.

Particularly preferably, all cutting of all partially elongated pieces is performed by round blades installed in a V-shape with each other.

Optionally, the partially elongated pieces removed by cutting are extracted by adsorption.

Particularly preferably, the method is carried out using the apparatus according to one or more of claims 1-18.

Further advantages resulting from this have already been described in the context of the device, so we will refer to the relevant parts to avoid repetition.

Further favorable features and / or advantageous features and developments of the devices and methods of the invention will be apparent from the dependent claims and specification. Particularly preferred embodiments of the apparatus and method of the present invention will be described in more detail with reference to the accompanying drawings. This drawing is as follows.

Axial cross-section of a fish fillet with a central bone and a lenticel on the opposite side of the central bone. The fish fillet of FIG. 1 with no central bone, with the lenticel lying on the transport unit. FIG. 2 is a schematic diagram of a preferred embodiment of an apparatus for automatically removing an elongated piece composed of lean meat from a fish fillet according to FIG. Double fish fillet with first means to detect lean meat placed above the double belt, first cutting tool to remove the elongated piece of central central part of the lean meat Enlarged view of a double belt as part of a transport unit, with a handling device for automatic alignment on the belt. Sectional view of the segment chain as part of a transport unit, with fish fillets released from an elongated piece of central center of red meat in an open position on the segment chain. A second means for detecting lean meat and a second as part of a cutting unit for removing a partially elongated piece of lean meat located ventral or dorsal to the fish fillet. Enlarged view of the transition area from the double belt to the segment chain, equipped with cutting tools. Enlarged view of the second and third cutting tools above the segment chain and the device for holding the fish. The figure according to FIG. 7 as seen from the transfer direction T.

The device shown in the drawing is used to automatically remove an elongated piece of lean meat from a fish fillet. The present invention will be described with reference to the example of tuna with bloody flesh to be removed. However, the present invention is similarly applicable to other fish species having an elongated piece of lean meat (bloody meat) in the fish fillet, in addition to the "normal" meat. Specifically, these fish species have such a special muscular structure due to their ability to travel long distances.

To facilitate a better understanding, first, the muscular structure of tuna or fish fillet 10 and equivalent species will be described with reference to FIGS. 1 and 2. FIG. 1 shows a single fish fillet 10 of a tuna with two fillets. The single fish fillet 10 still has the illustrated central bone 11. The dorsal partial fillet 12 starts from the central bone 11 and extends upward toward the dorsal fin (not shown). The ventral partial fillet 14 starts from the central bone 11 and extends downward toward the abdominal cavity 13 (shown only). The lenticel 15 of the fish fillet 10 is located on the opposite side of the central bone 11. The fish fillet 10 is mainly composed of "normal" white meat 16. However, the partially asymmetric elongated piece 17 of the lean meat starts from the central bone 11 and extends toward the lenticel 15. The elongated pieces 17 are individually spread in the meat 16 for each fish fillet 10.

FIG. 2 shows the fish fillet 10 of FIG. 1 without the central bone 11 in which the fish fillet 10 lies in contact with the lenticel 15. As a result, the elongated piece 17 of the lean meat faces upward, and the elongated piece 17 is substantially oriented in the longitudinal transfer direction T of the fish fillet 10.

The apparatus 18 illustrated in FIGS. 3 and 3 is designed and configured to automatically remove the elongated piece 17 composed of lean meat, so-called bloody meat, from the fish fillet 10. The device 18 transfers the processed fish fillet 10 from the entrance area E where the fish fillet 10 enters the device 18 to the exit area A where the fish fillet 10 exits the device 18 in the transfer direction T along the transfer path. A transport unit 19 for departing from the inlet zone E continuously along the transport path in the direction of the exit zone A, and a first means 20 for detecting lean meat in the fish fillet 10 to be processed. A first cutting tool 21 for removing an elongated piece of central central portion of lean meat from the fish fillet 10, and lean meat still attached to the fish fillet 10 produced by the first cutting tool 21. A mode in which the cutting surfaces F ₁ and F ₂ of the elongated piece of the ventral portion of the meat and the elongated piece of the dorsal portion of the lean meat still attached to the fish fillet 10 face upward away from the transport unit 19. The means 22 for opening the fish fillet 10 released from the elongated piece in the central part, and the cutting unit 23 for removing the elongated pieces of the ventral and dorsal parts of the lean meat from the fish fillet 10. The cutting unit 23 and the control device 26 include a second cutting tool 24 for removing the elongated piece of the ventral portion and a third cutting tool 25 for removing the elongated piece of the dorsal portion. And, at least the means 20 and the three cutting tools 21, 24, 25 for identifying lean meat are based on the data and / or information determined by the means 20 for detecting lean meat. It is characterized by the present invention in that it is connected to the control device 26 in such a manner that all cuts can be made.

The features and developments described below show preferred embodiments when used alone or in combination with each other. The features summarized in the claims and / or the specification and / or the drawings or described in common embodiments can also further develop the device 18 described above in a functionally independent manner. Is explicitly pointed out.

The transport unit 19 includes drive means, not explicitly shown, for rotary drive and preferably continuous drive. This drive means is also preferably connected to the control device 26. The first means 20 for detecting red meat may be provided with, for example, a camera. In place of or in addition to the camera, the means 20 may also be equipped with an x-ray instrument or other instrument, thereby the size and / or range of an elongated piece 17 composed of lean meat. / Or alignment and / or orientation and / or distribution can be detected in the meat 16.

Preferably, in the transfer direction T, the second means 27 for detecting the red meat remaining in the processed fish fillet 10 is arranged between the means 22 for opening the fish fillet 10 and the cutting unit 23. The second means 27 for detecting lean meat is also connected to the control device 26. In other words, the second means 27 for detecting lean meat is located between the first cutting tool 21 and the cutting unit 23. The second means 27 for detecting red meat is designed and configured for the first means 20 for detecting red meat.

FIG. 4 is an enlarged view of the entrance area E of the fish fillet 10. The transfer unit 19 includes a plurality of transfer elements, and the first transfer element 28 in the region of the first cutting tool 21 is a rotary drive type double belt having a gap 30 running centrally in parallel with the transfer direction T. 29, on the other hand, the second transport element 31 in the region of the cutting unit 23 is a rotary drive segment chain 32 having a triangular cross section. The double belt 29 may consist of two completely separate belts with separate guiding and driving elements. In other embodiments, the two partial belts may be spaced apart from each other on the same guiding and driving element. The gap 30 may extend over a part of the length of the double belt 29, may extend over the entire length of the double belt 29, and the gap 30 oriented in the transfer direction T may extend over the entire length of the double belt 29. 30 is centrally located in all embodiments in such a manner that the double belt 29 is symmetrically divided. Specifically, when the gap 30 extends over the entire length of the double belt 29, the gap 30 may be at least partially covered by the covering element 33.

The segment chain 32 is arranged so as to overlap the double belt 29. This is because the segment chain 32 along the transfer path has already departed before the end of the double belt 29, so that each fish fillet 10 in the overlapping area is located on the double belt 29. At the same time, it means that it is supported by the segment chain 32. In the overlapped region, the covering element 33 also projects the segment chain 32 through the gap 30 of the double belt 29, with at least the tips 35 of the individual segments 36 pointing upwards with respect to the cutting tool 21. There is also a gap 34 that can be made, the gap 34 of the covering element 33 beyond the plane defined by the double belt 29 (relative to the surface of the double belt 29). In other embodiments, the segment chain 32 may itself lie with its tip 35 in or under a plane defined by a double belt 29. The double belt 29 and the segment chain 32 can be individually controlled by the control device 26. Preferably, the double belt 29 and the segment chain 32 are synchronously controllable by the control device 26, for example in such a manner that they are driven at the same drive speed.

In the transfer direction T, the handling device 37 for automatically aligning the fish fillets 10 processed on the transfer unit 19 is the first means 20 for detecting the lean meat arranged in the inlet area E. , Is disposed between the second cutting tool 21 for removing the elongated piece of the central central portion, and the transport unit is disposed on the double belt 29 in the embodiment, and also. The handling device 37 is connected to the control device 26. The handling device 37 preferably comprises a robotic mechanism, eg, a delta kinematics mechanism, with an alignment tool not explicitly shown. The alignment tool may include, for example, gripping and / or sucking means, using these means to move the fish fillet 10 laterally to transfer direction T and especially transfer direction T on the double belt 29. It can also be offset around a vertical axis so that, among other things, the elongated piece 17 of the lean meat is at least partially, preferably completely centered, in the area of the gap 30. can. Particularly preferably, the alignment tool may include, for example, a plunger or the like, which allows the fish fillet 10 to move and / or rotate while lying on the double belt 29.

The handling device 37 is specifically designed and configured to automatically align the fish fillet 10 on the double belt 29 in such a manner that the fish fillet 10 is pre-positioned on the segment chain 32 with respect to these locations / positions. Has been done. Further, the handling device 37 includes two round blades 38, 39 in which the first cutting tool 21 is installed in a V shape at a fixed angle to each other, and drive means 40, 41 for the round blades 38, 39. It is particularly preferred when the two round blades 38, 39 are designed to be vertically and horizontally adjustable. It may be possible to adjust the round blades 38, 39 manually or automatically. Particularly preferably, the first cutting tool 21 is located on a robot mechanism 42, eg, a parallel kinematics mechanism, which allows the position of the first cutting tool 21 with respect to the transfer unit 19 and thus this implementation. In the example, the position with respect to the double belt 29 can be adjusted at least vertically and horizontally, and the robot mechanism 42 is also connected to the control device 26.

Optionally, the fixing means 43 is provided in the area of the double belt 29 in such a manner that the fish fillet 10 can be fixed on the double belt 29 when removing at least the elongated piece of the central portion. Has been done. In the illustrated embodiment, for example, the fish fillet 10 is doubled from above by being arranged above the double belt 29 in the transfer direction T on the upstream side of the cutting tool 21 and aligned laterally with respect to the transfer direction T. A pressure roller 44 that is pressed onto the belt 29 is provided. Also, the corresponding pressurizing roller 44 or another means for holding the fish may be substituted or additionally placed in the transfer direction T on the downstream side of the cutting tool 21. Further, the suction unit may be used as the fixing means 43, and the fish fillet 10 is sucked from below on the double belt 29. Each pressure roller 44 or the like may be actively driven. The corresponding drive means may be connected to the control device 26. Each pressurizing roller 44 is preferably driven synchronously with the double belt 29 in terms of drive speed.

The double belt 29 and the segment chain 32 form a continuous transfer unit 19 along the transfer path in the transfer direction T, and the segment chain 32 is at least from the double belt 29 to the segment chain 32 as described above. Transition area up to

In, the fish fillet 10 is moved from the double belt 29 by engaging with the double belt 29 from below through the gap 30. The segment chain 32 is composed of a plurality of segments 36. Each segment 36 has a triangular or roof-shaped cross section (see, eg, FIGS. 5 and 8). Each segment 36 preferably has a spike-shaped protrusion 45 on the upper side facing the cutting tools 24, 25. In other embodiments, only some of the segments 36 can have such protrusions 45, where each protrusion is probably a rough surface or a rough surface for holding or penetrating the fish fillet 10. It has only any other means.

The segment chain 32 optionally forms means 22 for opening the fish fillet 10 due to its shape and design. On the double belt 29, the fish fillet 10 lies on the double belt 29 with its lenticel 15 flattened. As a result of the movement of the fish fillet 10 by the segment chain 32, the partial fillets 12, 14 were assisted in the removal of an elongated piece of central central portion of the lean meat, laterally and after leaving the double belt 29. The partial fillets 12, 14 that have fallen downwards and are, as a result, still connected to each other lie on the surfaces 46, 47 of the segment 36, spreading diagonally downward and with a flesh 15 as a result. , _The cutting surfaces F1 and F2 are positioned so that the cutting surfaces F1 and F2 _are directed further upward in the direction of the cutting tools 24 and 25 from the positions facing each other (specifically, see FIG. 5). The other means 22 for opening the fish fillet 10 can also be used additionally and separately in the segment chain 32. For example, a means for actively deploying a partial fillet may be placed above the segment chain.

Preferably, the device 48, 49 for holding the fish is a segment chain with the device 48, 49 for holding the fish, the open fish fillet 10 when removing at least the elongated pieces of the ventral and dorsal parts. It is assigned to the segment chain 32 in the region of at least the cutting unit 23 in such a manner that it can be fixed to and from the segment chain 32 on both sides of the segment chain 32. The devices 48 and 49 for holding the fish may have, for example, a round outer shape. However, preferably the devices 48, 49 for holding the fish are rotationally driven transport belts 50, 51, the guide surfaces 52, 53 of which are preferably aligned parallel to the surfaces 46, 47 of the segment 36. (Specifically, see FIG. 8). The distances of the guiding surfaces 52, 53 from the surfaces 46, 47 of the segment 36 are adjustable. The devices 48, 49 for holding the fish are preferably as a means 22 for opening the partial fillets 12, 14 as an active means of assisting in opening the partial fillets 12, 14 and also as a portion. Designed and configured to support the segment chain 32 to hold the fillets 12, 14 in an open position.

The second and third cutting tools 24 and 25 are arranged above the segment chain 32 together with the devices 48 and 49 for holding the fish. The second and third cutting tools 24, 25 have two round blades 54 and 55, and 56 and 57, and a driving means 58 for the round blades 54-57, which are V-shaped with each other fixed angles. 59, as well as 60 and 61, respectively. In a simple embodiment, the cutting tools 24, 25 may be designed like the cutting tool 21, i.e., two round blades 54 and 55, as well as 56 and 57, arranged in a V shape with a fixed angle. In addition, these knives are designed to be vertically and horizontally adjustable. Specifically, in the second and third cutting tools 24 and 25, a ring blade, a so-called wizard knife, may be used instead of the round blades 54 to 57.

Preferably, the second and third cutting tools 24, 25 have two blade units 64 and 65, and blade carriers 62, 63 to which 66 and 67 are assigned, respectively, with each blade unit 64-67. The two round blades 54 and 55, and 56 and 57 are provided with driving means 58 to 61 for rotationally driving the round blades 54 to 57 and the round blades 54 to 57 around the rotation center axes M ₁ and M ₂ . , The blade units 64 to 67 on the blade carriers 62 and 63 are arranged in a V-shape at positions surrounding the angle α, and the size of the angle α can be set by the adjustable arrangement. The offsets of the two central axes of rotation M ₁ and M ₂ are equal to zero in the transfer direction T, and the two blade units 64 and 65, as well as 66 and 67, are exclusively adjustable synchronously with each other. Designed and configured to.

The second and third cutting tools 24, 25 are preferably arranged side by side in the transfer direction T, each on a robot mechanism 68, 69, eg, a parallel delta kinematics mechanism. 68, 69 are also connected to the control device 26. In the illustrated embodiment, first a second cutting tool 24 for removing the ventral strip is transferred, followed by a third cutting tool 25 for removing the dorsal strip. It is arranged in the direction T. However, the order of the cutting tools 24, 25 may be reversed.

The second cutting unit 70 corresponding to the first cutting unit 23 is arbitrarily arranged on the downstream side of the first cutting unit 23 including the second and third cutting tools 24 and 25 in the transfer direction T. The second cutting unit 70 is also connected to the control device 26. Further, a cutting unit having a corresponding design may be provided. The third means 71 for detecting red meat is arranged on the downstream side of the first cutting unit 23 and the upstream side of the second cutting unit 70 in the transfer direction T, and is for detecting the red meat. The third means 71 is also connected to the control device 26. The third means 71 for detecting red meat is designed and configured according to the first means 20 and the second means 27 for detecting red meat.

Optionally, the suction means 72, 73 for extracting the removed partially elongated piece is located in the area of the individual cutting tool 21, 24, 25 or each cutting tool 21, 24, 25. For example, the suction tubes are arranged in the transfer direction T on the downstream side of the pair of round blades 38 and 39, 54 and 55, and 56 and 57, respectively, and the suction opening of the suction tube is the transfer direction T. It is suitable for the opposite. All components for processing fish fillet 10, that is, at least the means 20, 27, 71 for detecting lean meat, and all cutting tools 21, 24, 25, have the fish fillet 10 processed upwards. It is arranged above the transport unit 19 so as to be performed from.

All components involved in the machining process, specifically the means 20, 27, 71 for detecting lean meat, all cutting tools 21, 24, 25 are either direct or robotic mechanisms 42, 68, It is preferable that the control device 26 is connected to the control device 26 by wire or wirelessly via the driving means of the 69, the handling device 37, and the transport elements 28, 31, and the control device 26 is particularly the evaluation unit, at least one memory. It comprises at least one control module for actively controlling the unit and individual components. The control device 26 may be designed as a programmable logic controller or as a microprocessor-based controller.

In the following, a method of automatically removing the elongated piece 17 composed of lean meat, so-called bloody meat, from the fish fillet 10 will be described in more detail based on the drawings, and this method is a combination of the following steps. Characterized by.

The processed fish fillet 10 is automatically transferred by the transfer unit 19 from the inlet area E to the exit area A in the transfer direction T along the transfer path. Along the transfer route, first of all, the means 20 for detecting the lean meat automatically detects the lean meat in the processed fish fillet 10. Subsequently, the first cutting tool 21 is used to automatically cut an elongated piece of the central portion of the red meat from the fish fillet 10. After the first cut, the fish fillet 10 released from the elongated piece of the central central portion using the means 22 for opening was formed when the elongated piece of the central central portion was removed. The cutting surfaces F ₁ and F ₂ of the elongated piece of the ventral part of the red meat still attached to the fillet 10 and the elongated piece of the dorsal part of the red meat still attached to the fish fillet 10 are the transport unit. It opens automatically in a style that looks upwards away from 19. In the open position, the elongated pieces of the ventral and dorsal portions are automatically cut from the fish fillet 10 using the second and third cutting tools 24, 25. To perform automatic cutting to remove all three partially elongated pieces, the cutting tools 21, 24, 25 are to the data and / or information determined by means 20 for detecting lean meat. Based on this, it is controlled using the control device 26.

Preferably, the data and / or information from the drive means of the transfer unit 19 is also used when controlling the cutting tools 21, 24, 25. The multi-step removal of the entire strip of red meat 17 is in the foreground of the method according to the invention. The elongated piece 17 of the red meat is automatically cut from the fish fillet 10 in at least three steps, first the elongated piece of the central central part is cut from the fish fillet 10, and then first the lean meat. An elongated piece of the ventral portion, then an elongated piece of the dorsal portion, or first an elongated piece of the dorsal portion, then an elongated piece of the ventral portion is cut from the fish fillet.

Optionally, prior to the first cutting, the handling device 37 is used to automatically bring the fish fillet 10 to the optimum position with respect to the cutting tool 21, where the elongated piece 17 is removed. Is located at least primarily centrally in the region of the gap 30 of the double belt 29 and aligns substantially parallel to the transfer direction T in its longitudinal extension. To do this, the handling device 37 is controlled by the control device 26. In the first automated cutting, the fish fillet 10 is preferably held on or pressed onto the double belt 29 using fixing means 43 and / or said. It is adsorbed on the double belt. After the first cut, the fish fillet 10 is moved from the double belt 29 by the segment chain 32 of the transport unit 19, and the fish fillet 10 preferably leaves the double belt 29 on the segment chain 32, preferably gravity. Only by means that the two partial fillets 12, 14 are automatically opened so that they fold laterally and downward. However, optionally, the partial fillets 12, 14 can also be actively brought into the open position.

After the first cut by the cutting tool 21 and before the second cutting by the cutting tool 24, preferably, the means 27 for detecting lean meat remains on the fish fillet 10 to be processed / The remaining lean meat is automatically detected again. In the second and third automated cutting, the fish fillet 10 is preferably held on the segment chain 32 by devices 48, 49 for holding the fish. As with the cutting tools 24 and 25 and the cutting tool 21, direct control may be performed. However, preferably, the cutting tools 21, 24, 25 are controlled by the control device 26 via the robot mechanisms 42, 68, 69.

All cutting is preferably performed using paired round blades 38 and 39, 54 and 55, 56 and 57, which are V-shaped at an angle to each other. The second and third cuts can also be performed using at least a wizard knife. Preferably, the fourth and fifth cuts are made by an additional cutting tool by first cutting an elongated piece of the ventral portion and then cutting the elongated piece of the dorsal portion and vice versa. The lean meat in the fish fillet 10 to be processed is automatically detected again before the 4th and 5th cutting using the means 71 for detecting the lean meat. .. Preferably, the partially elongated pieces removed by automatic cutting are automatically extracted by adsorption.

Particularly preferably, the method is carried out using the device 18 according to one or more of claims 1-18.

Claims (25)

A device (18) designed and configured to automatically remove from the fish fillet (10) an elongated piece (17) composed of lean meat, the so-called bloody meat.
The processed fish fillet (10) is placed in an entrance area (E) where the fish fillet (10) enters the device (18) and an exit area (A) where the fish fillet (10) exits the device (18). ), The transport unit (19) for transferring in the transfer direction T along the transfer path and continuously starting from the inlet area (E) in the direction of the exit area (A) along the transfer path. )When,
A first means (20) for detecting lean meat in the processed fish fillet (10), and
A first cutting tool (21) for removing an elongated piece of the central central portion of red meat from the fish fillet (10).
An elongated piece of ventral portion of lean meat still attached to the fish fillet (10) and lean still attached to the fish fillet (10) produced by the first cutting tool (21). The cut surface (F 1, F 2) of the elongated piece of the dorsal portion of the meat is released from the elongated piece of the central portion in such a manner that the cutting surface (F ₁ , F ₂ ) faces upward away from the transport unit (19). Means (22) for opening fish fillet (10) and
A cutting unit (23) for removing an elongated piece of the ventral and dorsal portions of lean meat from the fish fillet (10), the first for removing the elongated piece of the ventral portion. A cutting unit (23) comprising two cutting tools (24) and a third cutting tool (25) for removing the elongated piece of the dorsal portion.
With a control device,
At least the means (20) for identifying red meat and the three cutting tools (21, 24, 25) are in the data and / or information determined by the means (20) for detecting red meat. Based on the device (18), the device (18) is connected to the control device (26) in such a manner that all cutting can be performed. In the transfer direction T, the second means (27) for detecting the lean meat remaining in the processed fish fillet (10) is the means (22) for opening the fish fillet (10). The second means (27) for detecting lean meat, which is arranged between the cutting unit (23) and the cutting unit (23), is also characterized in that it is also connected to the control device (26). The device (18) according to claim 1. In the transfer direction T, the handling device (37) for automatically aligning the fish fillet (10) processed on the transfer unit (19) is the lean meat arranged in the entrance area (E). It is arranged between the first means (20) for detecting meat and the second cutting tool (21) for removing the elongated piece of the central portion, and is arranged in the handling device (37). The device (18) according to claim 1 or 2, wherein the device (26) is also connected to the control device (26). The device (18) according to claim 3, wherein the handling device (37) includes a robot mechanism, for example, a delta kinematics mechanism, together with an alignment tool. The first cutting tool (21) has two round blades (38, 39) installed in a V shape with fixed angles to each other, and a driving means (40, 41) for the round blades (38, 39). The device (38, 39) according to any one of claims 1 to 4, wherein the two round blades (38, 39) are designed to be adjustable in the vertical direction and the horizontal direction. 18). The first cutting tool (21) is arranged on a robot mechanism (42), for example, a delta kinematics mechanism, by which the first cutting tool (21) with respect to the transfer unit (19). Any of claims 1-5, wherein the position of is adjustable at least vertically and horizontally, and the robot mechanism (42) is also connected to the control device (26). The device (18) according to item 1. The second and third cutting tools (24, 25) have two round blades (54 and 55, 56 and 27) installed in a V shape with fixed angles to each other, and the round blades (54 and 55,). 56 and 27) The apparatus (18) according to any one of claims 1 to 6, wherein each of the driving means (58 and 59, 60 and 61) is provided. The second and third cutting tools (24, 25) each include a blade carrier (62, 63) to which two blade units (64 and 65, 66 and 67) are assigned, and each blade unit (64). And 65, 66 and 67) are driving means (54 and 55, 56 and 27) for rotationally driving the round blades (54 and 55, 56 and 27) and the round blades (54 to 57) around the rotation center axes M ₁ and M ₂ . The two round blades (54 and 55, 56 and 27) provided with 58 and 59, 60 and 61) are substantially V-shaped with each other at positions surrounding the angle α, at the angle α. The size can be set by the adjustable arrangement of the blade units (64 and 65, 66 and 67) on the blade carrier (62, 63) and of the two rotation center axes M ₁ and M ₂ . The offset from each other is equal to zero in the transfer direction T, and the two blade units (64 and 65, 66 and 67) are designed and configured to be adjustable exclusively synchronously with each other. The device (18) according to any one of claims 1 to 7. The second and third cutting tools (24, 25) are arranged side by side in the transfer direction T, each on a robot mechanism (68, 69), eg, a delta kinematics mechanism. The device (18) according to any one of claims 1 to 8, wherein the robot mechanism (68, 69) is also connected to the control device (26). The transfer unit (19) includes a plurality of transfer elements (28, 31), and the first transfer element (28) in the region of the first cutting tool (21) is parallel to the transfer direction T. A rotary drive type double belt (29) having a centrally running gap (30), while a second transport element (31) in the region of the cutting unit (23) is rotationally driven with a triangular cross section. The device (18) according to any one of claims 1 to 9, wherein the device is a segment chain (32). The double belt (29) and the segment chain (32) form a continuous transfer unit (19) along the transfer path in the transfer direction T, and the segment chain (32) is the fish fillet (10). ) From the double belt (29), at least the transition region from the double belt (29) to the segment chain (32).

The device (18) according to claim 10, wherein the double belt (29) is engaged from below through the gap (30). 10. The apparatus (18) of claim 10 or 11, wherein the segment chain (32) forms the means (22) for opening the fish fillet (10). The segment chain (32) has a spike-shaped protrusion (45) facing the cutting unit (23) on the upper side thereof in order to fix the fish fillet (10) on the segment chain (32). The apparatus (18) according to any one of claims 10 to 12, wherein the apparatus is characterized by having. The device for holding the fish (48, 49) is a device for holding the fish (10) when at least the elongated pieces of the ventral and dorsal parts are removed. Assigned to the segment chain (32) in the region of at least the cutting unit (23) in a manner that can be fixed to both sides of the segment chain (32) between the 48, 49) and the segment chain (32). The apparatus (18) according to any one of claims 10 to 13, wherein the apparatus is characterized by the above. The fixing means (43) is such that the fish fillet (10) can be fixed on the double belt (29) when removing at least an elongated piece of the central portion. 29) The apparatus (18) according to any one of claims 10 to 14, characterized in that it is provided in the area. The second cutting unit (70) corresponding to the first cutting unit (23) is the first cutting unit (24, 25) including the second and third cutting tools (24, 25) in the transfer direction T. Any one of claims 10-15, which is located downstream of 23), wherein the second cutting unit (70) is also connected to the control device (26). The device (18) according to the section. The third means (71) for detecting red meat is arranged on the downstream side of the first cutting tool (21) and the upstream side of the second cutting unit (70) in the transfer direction T. The device (18) according to claim 16, wherein the third means (71) for detecting lean meat is also connected to the control device (26). The suction means (72, 73) for extracting the removed partially elongated piece by suction is characterized in that it is arranged in the region of each cutting tool (21, 24, 25). The device (18) according to any one of claims 1 to 17. It is a method for automatically removing an elongated piece (17) composed of red meat, so-called bloody meat, from fish fillet (10).
-A step of automatically transferring the processed fish fillet (10) from the inlet area (E) to the exit area (A) in the transfer direction T along the transfer path by the transfer unit (19).
-A step of automatically detecting the lean meat in the processed fish fillet (10) using the means (20) for detecting the lean meat.
-A step of automatically cutting an elongated piece of the central central portion of red meat from the fish fillet (10) using the first cutting tool (21).
-Still on the elongated piece of the ventral portion of the lean meat still attached to the fish fillet (10) and the fish fillet (10) formed when removing the elongated piece of the central central portion. Means for opening (22) in such a manner that the cutting surface (F ₁ , F ₂ ) of the elongated piece of the dorsal portion of the attached lean meat faces upward away from the transport unit (19). And the step of automatically opening the fish fillet (10) released from the elongated piece of the central part using
-Includes a step of automatically cutting the elongated pieces of the ventral and dorsal portions from the fish fillet (10) using second and third cutting tools (24, 25).
-The cutting tool (24, 25) is controlled using the control device (26) based on the data and / or information determined by the means (20) for detecting lean meat. The method to be characterized. The elongated piece of lean meat is automatically removed from the fish fillet (10) in at least three steps, and first, the elongated piece of the central central portion is cut from the fish fillet (10). Then first the elongated piece of the ventral portion, then the elongated piece of the dorsal portion, or first the elongated piece of the dorsal portion of lean meat, then the elongated piece of the ventral portion. 19. The method of claim 19, wherein the meat is cut from the fish fillet (10). First the cutting of the elongated piece of the ventral portion, then the cutting of the elongated piece of the dorsal portion, or vice versa, with additional cutting tools along the transfer path in the fourth and fifth. The lean meat in the fish fillet (10) that is repeated and processed in steps is automatically re-automatically used by means (71) for detecting lean meat prior to the fourth and fifth steps. The method according to claim 19 or 20, wherein the method is to be detected. 19. The one of claims 19-21, wherein each fish fillet (10) is fixed to the transport unit (19) during the cutting of the partially elongated piece. Method. Claims 19-is characterized in that all cutting of all partially elongated pieces is performed by round blades (28 and 29, 54 and 55, 56 and 57) installed in a V-shape with each other. The method according to any one of 22. The method according to any one of claims 19 to 23, wherein the partially elongated piece removed by cutting is extracted by adsorption. The method according to any one of claims 19 to 24, which is carried out using the apparatus (18) according to any one of claims 1 to 18.

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